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<div class="title">test_sharedMemory.cpp</div>  </div>
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<a href="../../d8/d5e/test__shared_memory_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d2/dac/_shared_memory_8h.html">Utilities/SharedMemory.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;gmock/gmock.h&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;gtest/gtest.h&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="../../d3/d81/namespace_shared_memory_test_namespace.html">   12</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="../../d3/d81/namespace_shared_memory_test_namespace.html">SharedMemoryTestNamespace</a> {</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html">   13</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html">TestType</a> {</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a8c020134145edccc57b248f52b6ccbb6">   14</a></span>&#160;  <a class="code" href="../../d0/d99/c_types_8h.html#afaa62991928fb9fb18ff0db62a040aba">u32</a> <a class="code" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a8c020134145edccc57b248f52b6ccbb6">value</a>;</div><div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a9795dd1fa464c3488147be60eee7593b">   15</a></span>&#160;  <a class="code" href="../../db/d41/class_shared_memory_semaphore.html">SharedMemorySemaphore</a> <a class="code" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a9795dd1fa464c3488147be60eee7593b">semaphore</a>;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;};</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;}  <span class="comment">// namespace SharedMemoryTestNamespace</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">using namespace </span><a class="code" href="../../d3/d81/namespace_shared_memory_test_namespace.html">SharedMemoryTestNamespace</a>;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// test shared memory</span></div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="../../d8/d5e/test__shared_memory_8cpp.html#a6f7454dae5501de733df2e1fddbc4c5c">   22</a></span>&#160;<a class="code" href="../../d8/d5e/test__shared_memory_8cpp.html#a6f7454dae5501de733df2e1fddbc4c5c">TEST</a>(SharedMemory, MemoryAndSemaphore) {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="../../d1/d8d/class_shared_memory_object.html">SharedMemoryObject&lt;TestType&gt;</a> sharedObject, oldStaleSharedMemory;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  std::string memoryName = <span class="stringliteral">&quot;/shared-memory-test&quot;</span>;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="comment">// first open and close shared memory to reset everything</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="comment">// allow overwriting because the last run of the test could have left memory</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="comment">// open</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#a6b21aa9ce01bcd55504953446dc2ab2b">createNew</a>(memoryName, <span class="keyword">true</span>);</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  EXPECT_TRUE(sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#ac3647a51b19b036e3cf42ac1f2505dff">get</a>());</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#a36d86f30045bfd852bd784a2f87fadef">closeNew</a>();</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="comment">// now we should be able to open shared memory without overwriting</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  EXPECT_FALSE(oldStaleSharedMemory.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#a6b21aa9ce01bcd55504953446dc2ab2b">createNew</a>(memoryName, <span class="keyword">false</span>));</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  oldStaleSharedMemory.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#ac3647a51b19b036e3cf42ac1f2505dff">get</a>()-&gt;<a class="code" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a8c020134145edccc57b248f52b6ccbb6">value</a> =</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      12;  <span class="comment">// this shouldn&#39;t segfault if the memory is mapped succesfully</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="comment">// now we should have to overwrite already existing shared memory</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  EXPECT_TRUE(sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#a6b21aa9ce01bcd55504953446dc2ab2b">createNew</a>(memoryName, <span class="keyword">true</span>));</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#a36d86f30045bfd852bd784a2f87fadef">closeNew</a>();  <span class="comment">// and close it</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="comment">// now we can open without overwriting</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  EXPECT_FALSE(sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#a6b21aa9ce01bcd55504953446dc2ab2b">createNew</a>(memoryName, <span class="keyword">false</span>));</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">const</span> <a class="code" href="../../d0/d99/c_types_8h.html#afaa62991928fb9fb18ff0db62a040aba">u32</a> valueFromParent = 2;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">const</span> <a class="code" href="../../d0/d99/c_types_8h.html#afaa62991928fb9fb18ff0db62a040aba">u32</a> valueFromChildSuccess = 3;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">const</span> <a class="code" href="../../d0/d99/c_types_8h.html#afaa62991928fb9fb18ff0db62a040aba">u32</a> valueFromChildFailure = 4;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">// value should be zeroed</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  EXPECT_TRUE(0 == sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#ac3647a51b19b036e3cf42ac1f2505dff">get</a>()-&gt;<a class="code" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a8c020134145edccc57b248f52b6ccbb6">value</a>);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="comment">// set up tosend value from parent to child process</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#ac3647a51b19b036e3cf42ac1f2505dff">get</a>()-&gt;<a class="code" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a8c020134145edccc57b248f52b6ccbb6">value</a> = valueFromParent;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#ac3647a51b19b036e3cf42ac1f2505dff">get</a>()-&gt;<a class="code" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a9795dd1fa464c3488147be60eee7593b">semaphore</a>.<a class="code" href="../../db/d41/class_shared_memory_semaphore.html#acb002c7dce852e4548ee4b8a32e67b97">init</a>(0);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">// create child process</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  pid_t pid = fork();</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">if</span> (!pid) {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="comment">// child runs this: open shared memory</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <a class="code" href="../../d1/d8d/class_shared_memory_object.html">SharedMemoryObject&lt;TestType&gt;</a> childView;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    childView.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#a62656128cd792e54088e8f75315d05bc">attach</a>(memoryName);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="comment">// check to see we got the correct value:</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordflow">if</span> (childView().<a class="code" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a8c020134145edccc57b248f52b6ccbb6">value</a> == valueFromParent) {</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      childView().value = valueFromChildSuccess;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="comment">// otherwise signal an error</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      childView().value = valueFromChildFailure;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    }</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="comment">// inform the parent that it can now read the child value from shared memory</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    childView().semaphore.increment();</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">// close our view and exit child process</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    childView.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#a1678883b8fae1cb2eb9379390f159ee1">detach</a>();</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    exit(0);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  }</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#ac3647a51b19b036e3cf42ac1f2505dff">get</a>()-&gt;<a class="code" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a9795dd1fa464c3488147be60eee7593b">semaphore</a>.<a class="code" href="../../db/d41/class_shared_memory_semaphore.html#a92848ad136712dbfd7ce309e1ac472d9">decrement</a>();  <span class="comment">// wait until child writes</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  EXPECT_TRUE(valueFromChildSuccess == sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#ac3647a51b19b036e3cf42ac1f2505dff">get</a>()-&gt;<a class="code" href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a8c020134145edccc57b248f52b6ccbb6">value</a>);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  sharedObject.<a class="code" href="../../d1/d8d/class_shared_memory_object.html#a36d86f30045bfd852bd784a2f87fadef">closeNew</a>();</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div><div class="ttc" id="_shared_memory_8h_html"><div class="ttname"><a href="../../d2/dac/_shared_memory_8h.html">SharedMemory.h</a></div><div class="ttdoc">Shared memory utilities for connecting the simulator program to the robot program. </div></div>
<div class="ttc" id="class_shared_memory_semaphore_html"><div class="ttname"><a href="../../db/d41/class_shared_memory_semaphore.html">SharedMemorySemaphore</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dac/_shared_memory_8h_source.html#l00027">SharedMemory.h:27</a></div></div>
<div class="ttc" id="struct_shared_memory_test_namespace_1_1_test_type_html_a9795dd1fa464c3488147be60eee7593b"><div class="ttname"><a href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a9795dd1fa464c3488147be60eee7593b">SharedMemoryTestNamespace::TestType::semaphore</a></div><div class="ttdeci">SharedMemorySemaphore semaphore</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d5e/test__shared_memory_8cpp_source.html#l00015">test_sharedMemory.cpp:15</a></div></div>
<div class="ttc" id="class_shared_memory_object_html_a62656128cd792e54088e8f75315d05bc"><div class="ttname"><a href="../../d1/d8d/class_shared_memory_object.html#a62656128cd792e54088e8f75315d05bc">SharedMemoryObject::attach</a></div><div class="ttdeci">void attach(const std::string &amp;name)</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dac/_shared_memory_8h_source.html#l00191">SharedMemory.h:191</a></div></div>
<div class="ttc" id="class_shared_memory_semaphore_html_acb002c7dce852e4548ee4b8a32e67b97"><div class="ttname"><a href="../../db/d41/class_shared_memory_semaphore.html#acb002c7dce852e4548ee4b8a32e67b97">SharedMemorySemaphore::init</a></div><div class="ttdeci">void init(unsigned int value)</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dac/_shared_memory_8h_source.html#l00039">SharedMemory.h:39</a></div></div>
<div class="ttc" id="class_shared_memory_object_html_ac3647a51b19b036e3cf42ac1f2505dff"><div class="ttname"><a href="../../d1/d8d/class_shared_memory_object.html#ac3647a51b19b036e3cf42ac1f2505dff">SharedMemoryObject::get</a></div><div class="ttdeci">T * get()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dac/_shared_memory_8h_source.html#l00303">SharedMemory.h:303</a></div></div>
<div class="ttc" id="class_shared_memory_object_html_a36d86f30045bfd852bd784a2f87fadef"><div class="ttname"><a href="../../d1/d8d/class_shared_memory_object.html#a36d86f30045bfd852bd784a2f87fadef">SharedMemoryObject::closeNew</a></div><div class="ttdeci">void closeNew()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dac/_shared_memory_8h_source.html#l00241">SharedMemory.h:241</a></div></div>
<div class="ttc" id="c_types_8h_html_afaa62991928fb9fb18ff0db62a040aba"><div class="ttname"><a href="../../d0/d99/c_types_8h.html#afaa62991928fb9fb18ff0db62a040aba">u32</a></div><div class="ttdeci">uint32_t u32</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d99/c_types_8h_source.html#l00018">cTypes.h:18</a></div></div>
<div class="ttc" id="class_shared_memory_object_html_a6b21aa9ce01bcd55504953446dc2ab2b"><div class="ttname"><a href="../../d1/d8d/class_shared_memory_object.html#a6b21aa9ce01bcd55504953446dc2ab2b">SharedMemoryObject::createNew</a></div><div class="ttdeci">bool createNew(const std::string &amp;name, bool allowOverwrite=false)</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dac/_shared_memory_8h_source.html#l00125">SharedMemory.h:125</a></div></div>
<div class="ttc" id="class_shared_memory_semaphore_html_a92848ad136712dbfd7ce309e1ac472d9"><div class="ttname"><a href="../../db/d41/class_shared_memory_semaphore.html#a92848ad136712dbfd7ce309e1ac472d9">SharedMemorySemaphore::decrement</a></div><div class="ttdeci">void decrement()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dac/_shared_memory_8h_source.html#l00059">SharedMemory.h:59</a></div></div>
<div class="ttc" id="class_shared_memory_object_html_a1678883b8fae1cb2eb9379390f159ee1"><div class="ttname"><a href="../../d1/d8d/class_shared_memory_object.html#a1678883b8fae1cb2eb9379390f159ee1">SharedMemoryObject::detach</a></div><div class="ttdeci">void detach()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dac/_shared_memory_8h_source.html#l00277">SharedMemory.h:277</a></div></div>
<div class="ttc" id="test__shared_memory_8cpp_html_a6f7454dae5501de733df2e1fddbc4c5c"><div class="ttname"><a href="../../d8/d5e/test__shared_memory_8cpp.html#a6f7454dae5501de733df2e1fddbc4c5c">TEST</a></div><div class="ttdeci">TEST(SharedMemory, MemoryAndSemaphore)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d5e/test__shared_memory_8cpp_source.html#l00022">test_sharedMemory.cpp:22</a></div></div>
<div class="ttc" id="namespace_shared_memory_test_namespace_html"><div class="ttname"><a href="../../d3/d81/namespace_shared_memory_test_namespace.html">SharedMemoryTestNamespace</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d5e/test__shared_memory_8cpp_source.html#l00012">test_sharedMemory.cpp:12</a></div></div>
<div class="ttc" id="struct_shared_memory_test_namespace_1_1_test_type_html_a8c020134145edccc57b248f52b6ccbb6"><div class="ttname"><a href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html#a8c020134145edccc57b248f52b6ccbb6">SharedMemoryTestNamespace::TestType::value</a></div><div class="ttdeci">u32 value</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d5e/test__shared_memory_8cpp_source.html#l00014">test_sharedMemory.cpp:14</a></div></div>
<div class="ttc" id="struct_shared_memory_test_namespace_1_1_test_type_html"><div class="ttname"><a href="../../d9/d1b/struct_shared_memory_test_namespace_1_1_test_type.html">SharedMemoryTestNamespace::TestType</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d5e/test__shared_memory_8cpp_source.html#l00013">test_sharedMemory.cpp:13</a></div></div>
<div class="ttc" id="class_shared_memory_object_html"><div class="ttname"><a href="../../d1/d8d/class_shared_memory_object.html">SharedMemoryObject</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dac/_shared_memory_8h_source.html#l00112">SharedMemory.h:112</a></div></div>
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